The grief and anger of his family is entirely understandable and - as I have been powerfully reminded - remains unassuaged

IPCC chairman Nick Hardwick

"This sends out the signal that no action against officers will ever be taken in this case, which is devastating for the family."

The Menezes family said they believed there were grounds for gross negligence manslaughter criminal charges against the four senior officers.

A spokeswoman, speaking on their behalf, said: "We hope ultimately that all the officers about whom evidence emerges of wrongdoing that led to this wrongful death are ultimately rendered fully accountable," the spokeswoman added.

'Challenging circumstances'

The IPCC's chairman, Nick Hardwick, said he understood the feelings of Mr Menezes' family.

"The grief and anger of his family is entirely understandable and - as I have been powerfully reminded - remains unassuaged," he said.

"I would not do anything lightly that adds to that grief or anger."

But he said although Mr Menezes was "entirely innocent" there was "no realistic prospect" of disciplinary charges being upheld against the firearms or surveillance officers involved, including the two officers directly responsible for the fatal shooting .

They were facing the "challenge" of the wake of the 7/7 London bombings, he added.

The human rights group, Liberty, condemned the delay in deciding whether the more senior officers should be punished.

The Metropolitan Police welcomed the IPCC recommendation but said the shooting of Mr Menezes was "a matter of very deep regret" to the service and said its thoughts were "with his family".

A spokesman added: "There is no doubt that the events of July 2005 brought significant challenges to the Met and during this time many officers operated under difficult and dangerous conditions to protect London and Londoners."